
/**
 * @author lijun
 * @date 2025-1-1
 * @brief Coverage Path Planning  test
 */

#include "../include/coverage_planner.hpp"
using namespace std;
using namespace coverageplanner;

int main()
{
    cv::Mat1b map = cv::imread("../data/test.png", CV_8U);
    if (map.empty())
    {
        cout << " get map failed! " << endl;
        return 0;
    }
    else
    {
        CoveragePlanner cover_test;
        int robot_radius = 4;
        // 一般情况下 弓字间距 小于或者等于 2*robot_radius
        int clean_distance = 8;
        std::deque<Point2D> cover_path = cover_test.planner(map, robot_radius, clean_distance);
    }
    return 0;
}